4 papers
SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification
Junbin Yuan, Muqing Cao, Yunwoo Lee +2
Safe navigation with a body-mounted limited-field-of-view sensor requires the complete robot-inflated volume of an intended motion to be observed and verified free before execution…
QP Chaser: Polynomial Trajectory Generation for Autonomous Aerial Tracking
Yunwoo Lee, Jungwon Park, Seungwoo Jung +3
Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadrat…
MC-Swarm: Minimal-Communication Multi-Agent Trajectory Planning and Deadlock Resolution for Quadrotor Swarm
Yunwoo Lee, Jungwon Park
For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory plan…
DMVC-Tracker: Distributed Multi-Agent Trajectory Planning for Target Tracking Using Dynamic Buffered Voronoi and Inter-Visibility Cells
Yunwoo Lee, Jungwon Park, H. Jin Kim
This letter presents a distributed trajectory planning method for multi-agent aerial tracking. The proposed method uses a Dynamic Buffered Voronoi Cell (DBVC) and a Dynamic Inter-V…